//
// Created by Ukua on 2023/9/14.
//

#ifndef JUSTFW_INTERFACE_H
#define JUSTFW_INTERFACE_H


#include "intf_can.h"
#include "intf_uart.h"
#include "intf_motor.h"
#include "intf_log.h"

#include "stdlib.h"
#include "intf_leg.h"
#include "intf_chassis.h"
#include "intf_gimbal.h"
#include "intf_shooter.h"
#include "intf_vision.h"
#include "intf_navigation.h"
#include "intf_dr16.h"

//LIB
#include "user_lib.h"
#include "PID.h"
#include "QuaternionEKF.h"
#include "kalman_filter.h"
#include "kalman.h"

#include "elog.h"
#include "easyflash.h"
#include "elog_flash.h"


//初始化结构体(全部置0)
#define STRUCT_INIT(type) memset(JUST_MALLOC(sizeof(type)),0,sizeof(type))
//malloc


#ifdef _CMSIS_OS_H
#define JUST_MALLOC pvPortMalloc
#define JUST_FREE vPortFree
#else
#define JUST_MALLOC malloc
#define JUST_FREE free
#endif

#endif //JUSTFW_INTERFACE_H
